Method and system for producing classifier for recognizing obstacle

Abstract

The present invention provides a method and a system for producing a classifier for recognizing an obstacle, including a processor configured to: display surface data of a plurality of obstacles measured by a distance measurement sensor in a two-dimensional (2D) coordinate system; group and classify the surface data displayed in the 2D coordinate system for each obstacle; setting a plurality of feature references to analyze region based features displayed for each obstacle in the 2D coordinate system and calculate the respective feature references for each obstacle grouping; and producing the classifier by applying a weight to each of the feature references.

What is claimed is: 
     
       1. A system for producing a classifier for recognizing an obstacle, comprising:
 a processor configured to:
 display surface data of a plurality of obstacles measured by a distance measurement sensor in a two-dimensional (2D) coordinate system; 
 group and classify the surface data displayed in the 2D coordinate system for each obstacle; 
 project the surface data of each obstacle vertically to a ground surface coordinate system having an X-Y axis parallel to a ground surface; 
 set a plurality of feature references to analyze region based features displayed for each obstacle in the 2D coordinate system and calculate the respective feature references for each obstacle; and 
 produce the classifier by applying a weight to each of the feature references. 
 
 
     
     
       2. The system of  claim 1 , wherein the processor is further configured to control the weight when a result value is not matched with a predetermined value by deducing a result value depending on the produced classifier and comparing the result value with the predetermined value to display the surface data. 
     
     
       3. The system of  claim 1 , wherein the distance measurement sensor may be selected from a group consisting of: a radar sensor and a laser sensor. 
     
     
       4. The system of  claim 1 , wherein the feature references further comprise:
 an area reference, wherein the area reference is a space occupied by the obstacle grouping in the 2D coordinate system; 
 a centroid reference, wherein the centroid reference is a coordinate value of a centroid of the obstacle grouping displayed in the 2D coordinate system; 
 a spacing reference, wherein the spacing reference is a level in which the surface data corresponding to each obstacle displayed in the 2D coordinate system is spaced apart from the coordinate value of the centroid of each corresponding obstacle; 
 a perimeter reference, wherein the perimeter reference is a perimeter length value of the obstacle grouping; and 
 a roundness reference, wherein the roundness reference is a roundness level calculated by the area value and the perimeter length value of the obstacle grouping. 
 
     
     
       5. A non-transitory computer medium containing program instructions executed by a processor, the computer readable medium comprising:
 program instructions that display surface data of a plurality of obstacles measured by a distance measurement sensor in a two-dimensional (2D) coordinate system; 
 program instructions that group and classify the surface data displayed in the 2D coordinate system for each obstacle; 
 program instructions that project the surface data of each obstacle vertically to a ground surface coordinate system having an X-Y axis parallel to a ground surface; 
 program instructions that set a plurality of feature references to analyze region based features displayed for each obstacle in the 2D coordinate system and calculate the respective feature references for each obstacle; and 
 program instructions that produce the classifier by applying a weight to each of the feature references. 
 
     
     
       6. The non-transitory computer medium of  claim 5 , further comprising program instructions that control the weight when a result value is not matched with a predetermined value by deducing a result value depending on the produced classifier and comparing the result value with the predetermined value to display the surface data. 
     
     
       7. The non-transitory computer medium of  claim 5 , wherein the distance measurement sensor may be selected from a group consisting of: a radar sensor and a laser sensor. 
     
     
       8. The non-transitory computer medium of  claim 5 , wherein the feature references further comprise:
 an area reference, wherein the area reference is a space occupied by the obstacle grouping in the 2D coordinate system; 
 a centroid reference, wherein the centroid reference is a coordinate value of a centroid of the obstacle grouping displayed in the 2D coordinate system; 
 a spacing reference, wherein the spacing reference is a level in which the surface data corresponding to each obstacle displayed in the 2D coordinate system is spaced apart from the coordinate value of the centroid of each corresponding obstacle; 
 a perimeter reference, wherein the perimeter reference is a perimeter length value of the obstacle grouping; and 
 a roundness reference, wherein the roundness reference is a roundness level calculated by the area value and the perimeter length value of the obstacle grouping.